Modular multi-dimensional surgical robotic arm

Abstract

The application relates to a detachable multi-dimension surgical mechanical arm. The detachable multi-dimension surgical mechanical arm comprises an operating assembly, a clamp head assembly and a locking assembly. When disinfection is needed, the locking part is separated from the locking groove by pressing the locking part downward, the outer tube is pulled outward, the buckling part is separated from the matching part, the locking tube and the clamp core are completely separated from the locking part, the separation of the clamp head assembly and the operating assembly is realized, and the clamp head assembly is conveniently and completely disinfected; after disinfection is completed, the locking part is pressed downward, the locking tube and the clamp core can pass through the locking part, the buckling part is buckled with the matching part, the external force on the locking part is removed, the locking part moves upward under the action of the locking elastic part, the locking part is clamped into the locking groove, and the assembly between the clamp head assembly and the operating assembly is realized. Therefore, the locking assembly is arranged, the operating assembly and the clamp head assembly are quickly disassembled and assembled, the clamp head assembly is conveniently and completely disinfected, and the probability of liquid entering the electric control mechanism is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a detachable multi-dimensional surgical robotic arm. Background Technology

[0002] In recent years, minimally invasive surgery has been widely used in surgical procedures due to its advantages such as smaller incisions, less pain, and faster recovery. To reduce the workload and difficulty for operators in multi-port surgeries, electrically controlled multi-dimensional surgical robotic arms are often used, allowing operators to easily adjust the forceps inserted into the body cavity to the optimal surgical position as needed.

[0003] As a surgical instrument, the electrically controlled multi-dimensional surgical robotic arm requires frequent sterilization. To facilitate sterilization, the entire robotic arm is often immersed in disinfectant. However, this method carries a high risk of liquid entering the motors and other electrical components, potentially damaging them and shortening the robotic arm's lifespan. To address these issues and ensure thorough sterilization, the entire robotic arm is disassembled, and the forceps head, robotic arm itself, and other parts are sterilized separately. However, this method requires removing most of the components, making the sterilization process extremely cumbersome. Summary of the Invention

[0004] Therefore, it is necessary to provide a detachable multi-dimensional surgical robotic arm that can prevent disinfectant from entering components such as motors during the disinfection process and causing damage to them, while improving the convenience of disinfection and enabling thorough disinfection.

[0005] A detachable multi-dimensional surgical robotic arm includes an operating component, a forceps assembly, a mechanical control mechanism, and a locking component;

[0006] The operating components include an operating handle, a mounting bracket mounted on the operating handle, and an electronic control mechanism mounted on the mounting bracket; the operating handle has a fastening part; the operating handle has a locking hole;

[0007] The pliers assembly includes an outer tube, a pliers core and a pliers body, a mechanical control mechanism, and a locking tube. One end of the outer tube is connected to the mechanical control mechanism, and the other end is connected to the pliers body. One end of the locking tube is connected to the end of the mechanical control mechanism away from the pliers body, and the outer wall of the other end has a locking groove formed circumferentially. The pliers core passes through the outer tube and the locking tube, with one end connected to the pliers body and the other end having a mating part that can engage with the fastening part. The mechanical control mechanism is drivenly connected to the electrical control mechanism and is configured to be able to drive the outer tube to bend at least partially under the driving action of the electrical control mechanism.

[0008] The locking assembly includes a locking member and a locking elastic member; the locking member is slidably disposed in the locking hole, with one end located on the outer wall of the operating handle and the other end located inside the operating handle and having a locking portion; the locking elastic member is used to provide an elastic force to drive the locking member to move from the inside to the outside along the central axis of the locking hole, so as to hook the locking portion into the locking groove; the locking member is operably movable from the outside to the inside along the central axis of the locking hole until the locking portion disengages from the locking groove.

[0009] When the aforementioned detachable multi-dimensional surgical robotic arm needs to be disinfected, press down on the locking member until the locking part disengages from the locking groove. At this time, pull the outer tube outward to separate the fastening part and the mating part until the locking tube and the forceps core are completely separated from the locking member, thus separating the forceps head assembly from the operating assembly. Then, disinfect the entire forceps head assembly. When it is necessary to install the forceps head assembly onto the operating assembly, press down on the locking member to ensure that the locking tube and the forceps core can pass through the locking part. When the locking part is aligned with the locking groove and the fastening part and the mating part are engaged, remove the external force applied to the locking member. At this time, the locking member moves upward under the elastic force provided by the locking elastic member to lock the locking part into the locking groove, thus realizing the installation between the forceps head assembly and the operating assembly. Therefore, the aforementioned detachable multi-dimensional surgical robotic arm, through the locking component, enables the rapid assembly and disassembly of the operating component and the forceps component. This not only prevents liquid from entering the electrical control mechanism during the sterilization process and affecting its service life, but also makes the sterilization process more convenient and thorough. Attached Figure Description

[0010] Figure 1 This is a cross-sectional view of a detachable multi-dimensional surgical robotic arm in a preferred embodiment of the present invention;

[0011] Figure 2 for Figure 1 A magnified view of the operating handle in the detachable multi-dimensional surgical robotic arm shown.

[0012] Figure 3 for Figure 1 A magnified view of part A of the detachable multi-dimensional surgical robotic arm shown.

[0013] Figure 4 for Figure 1 The diagram shows the structure of the locking mechanism in the detachable multi-dimensional surgical robotic arm.

[0014] Figure 5 for Figure 1 A cross-sectional view of the limiting structure in the detachable multi-dimensional surgical robotic arm shown.

[0015] Figure 6 for Figure 1The enlarged view of part B of the detachable multi-dimensional surgical robotic arm is shown.

[0016] Labeling Explanation: 10. Detachable Multi-Dimensional Surgical Arm; 100. Operating Components; 110. Operating Handle; 111. Locking Hole; 112. Mounting Slot; 113. Guide Structure; 114. Mounting Cavity; 115. Main Handle Structure; 116. Movable Handle Structure; 117. Snap-in Slot; 118. Clearance Notch; 120. Mounting Frame; 130. Electrical Control Mechanism; 131. First Motor; 132. Second Motor; 140. Electrical Control Housing; 141. Mounting Step; 200. Forceps Assembly; 21 0. Outer tube; 211. First snake-bone tube segment; 212. Second snake-bone tube segment; 213. First side; 124. Second side; 220. Pliers core; 221. Ball head structure; 230. Pliers head body; 240. Mechanical control mechanism; 241. First slider; 242. Second slider; 243. Third slider; 244. Fourth slider; 245. First transmission mechanism; 2451. First driving gear; 24511. First chamfer; 2452. First threaded sleeve; 24521. First driven gear; 2 4522. Third chamfer; 2453. First transmission nut; 2454. Second transmission nut; 2455. First pair of elastic members; 2456. First limiting member; 246. Second transmission mechanism; 2461. Second driving gear; 24611. Second chamfer; 2462. Second threaded sleeve; 24621. Second driven gear; 24622. Fourth chamfer; 2463. Third transmission nut; 2464. Fourth transmission nut; 2465. Second pair of elastic members; 2466. Second limiting member ; 250, Locking tube; 251, Locking groove; 261, First traction wire; 262, Second traction wire; 263, Third traction wire; 264, Fourth traction wire; 270, Mechanical control housing; 300, Locking assembly; 310, Locking element; 311, Locking rod; 312, Locking structure; 3121, Disassembly hole; 320, Locking elastic element; 330, Limiting structure; 331, Sliding hole; 332, Annular groove; 340, Pressing structure; 341, Pressing top plate; 342, Guide side plate. Detailed Implementation

[0017] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0019] When describing positional relationships, unless otherwise specified, when an element is referred to as being "on" another element, it may be directly on the other element or there may be intermediate elements. It is also understood that when an element is referred to as being "between" two elements, it may be the only one between the two elements, or there may be one or more intermediate elements.

[0020] When using the terms “including,” “having,” and “comprising” as described herein, another component may be added unless explicitly qualifying terms such as “only,” “consisting of,” etc. are used. Unless otherwise stated, singular terms may include plural forms and should not be construed as having a quantity of one.

[0021] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the components are shown in the drawings only as examples and not necessarily to actual scale.

[0022] Please see Figure 1 The detachable multi-dimensional surgical robotic arm 10 in a preferred embodiment of the present invention includes an operating component 100, a forceps component 200, and a locking component 300.

[0023] Please refer to the following: Figure 2 The operating assembly 100 includes an operating handle 110, a mounting bracket 120 mounted on the operating handle 110, and an electrical control mechanism 130 mounted on the mounting bracket 120. The operating handle 110 has a fastening part (not shown in the figure). The operating handle 110 has a locking hole 111.

[0024] Please refer to the following: Figure 3The pliers assembly 200 includes an outer tube 210, a pliers core 220, a pliers body 230, a mechanical control mechanism 240, and a locking tube 250. One end of the outer tube 210 is connected to the mechanical control mechanism 240, and the other end is connected to the pliers body 230. One end of the locking tube 250 is connected to the end of the mechanical control mechanism 240 away from the pliers body 230, and the outer wall of the other end has a locking groove 251 formed circumferentially. The pliers core 220 passes through the outer tube 210 and the locking tube 250, with one end connected to the pliers body 230 and the other end having a mating part (not shown) that can engage with a latching part. The mechanical control mechanism 240 is drivenly connected to the electronic control mechanism 130 and is configured to be able to drive the outer tube 210 to at least partially bend under the driving action of the electronic control mechanism 130. In actual use, the mechanical control mechanism 240 can be driven by the electronic control mechanism 130 to drive the outer tube 210 to bend at least partially, thereby adjusting the operating direction and position of the forceps head body 230 in the body cavity. This makes the use of the above-mentioned detachable multi-dimensional surgical robotic arm 10 simpler, less strenuous, and improves the operating accuracy.

[0025] The locking assembly 300 includes a locking member 310 and a locking elastic member 320. The locking member 310 is slidably disposed in the locking hole 111, with one end located on the outer wall of the operating handle 110 and the other end located inside the operating handle 110 and having a locking portion (not shown). The locking elastic member 320 provides an elastic force that drives the locking member 310 to move from the inside to the outside along the central axis of the locking hole 111, so as to hook the locking portion into the locking groove 251. The locking member 310 is operably movable from the outside to the inside along the central axis of the locking hole 111 until the locking portion disengages from the locking groove 251. The locking portion can be a ring structure, a hook structure, etc., and the locking elastic member 320 can be a spring, a metal spring, an elastic pad, a rubber band, etc.

[0026] When the detachable multi-dimensional surgical robotic arm 10 needs to be disinfected, the operator presses the locking member 310 downwards (i.e., from the outside to the inside along the central axis of the locking hole 111) until the locking part disengages from the locking groove 251. At this time, continue to apply downward pressure to the locking member 310, and at the same time, the operator pulls the outer tube 210 outwards, so that the fastening part and the mating part separate, and the locking tube 250 and the clamp core 220 completely separate from the locking member 310, thereby separating the clamp head assembly 200 from the operating component 100. After that, the clamp head assembly 200 is thoroughly disinfected.

[0027] After the disinfection work is completed, the staff presses the locking part 310 downward (i.e., from the outside to the inside along the central axis of the locking hole 111), and at the same time, passes the locking tube 250 and the end of the valve core away from the pliers body 230 through the locking part until the locking part is aligned with the locking groove 251. After the fastening part and the mating part are engaged, the external force applied to the locking part 310 is removed. At this time, the locking part 310 moves upward (i.e., from the inside to the outside along the central axis of the locking hole 111) under the elastic force provided by the elastic member, so as to lock the locking part into the locking groove 251, thereby locking the pliers assembly 200 and the operating assembly 100 together, realizing the installation between the pliers assembly 200 and the operating assembly 100.

[0028] Therefore, the setting of the locking component 300 enables the quick assembly and disassembly of the operating component 100 and the clamping head component 200. This not only prevents liquid from entering the electronic control mechanism 130 during the disinfection process and affecting the service life of the electronic control mechanism 130, but also makes the disinfection work more convenient and the disinfection more thorough.

[0029] Please refer to the following: Figure 4 In some embodiments, the locking member 310 includes a locking rod 311 and a locking structure 312 disposed at one end of the locking rod 311. The locking rod 311 is slidably inserted through the locking hole 111, with its end away from the locking structure 312 extending to the outside of the operating handle 110. The locking structure 312 is located inside the operating handle 110 and has a disassembly hole 1321. The locking tube 250 is inserted into the disassembly hole 1321. The locking elastic member 320 is used to provide an elastic force that drives the locking rod 311 to slide from the inside to the outside, so as to engage the edge portion of the disassembly hole 1321 into the locking groove 251. Thus, the edge portion of the disassembly hole 1321 away from the locking rod 311 is the locking part.

[0030] Thus, the locking structure 312 is an annular structure with a disassembly hole 1321. In the circumferential direction of the disassembly hole 1321, the distance between the hole wall of the disassembly hole 1321 and the outer edge of the annular structure can be the same or different in the circumferential direction of the disassembly hole 1321.

[0031] When the locking member 310 moves upward under the elastic force provided by the locking elastic member 320, the edge of the disassembly hole 1321 is engaged in the locking groove 251, thereby locking the locking part into the locking groove 251. This not only prevents the locking member 310 from coming out of the operating handle 110, but also locks the operating component 100 and the forceps assembly 200, ensuring the structural stability of the detachable multi-dimensional surgical robotic arm 10 during use.

[0032] Furthermore, in some embodiments, the locking structure 312 is a plate-like structure. The locking hole 111 is a rectangular hole formed on the outer wall of the operating handle 110, and the rectangular hole is configured to allow the locking structure 312 to pass through. The inner wall of the operating handle 110 is provided with a mounting groove 112. The locking structure 312 is slidably mounted in the mounting groove 112 along the depth direction of the locking hole 111. The mounting groove 112 can be an annular groove 332 provided along the circumference of the locking tube 250, or an arcuate groove extending along the circumference of the locking tube 250, or a groove extending along the depth direction of the locking hole 111.

[0033] The locking hole 111 is designed to allow the locking structure 312 to pass through. Therefore, the locking hole 111 is a rectangular hole aligned with the direction of the locking structure 312 to facilitate the installation of the locking structure 312 into the operating handle 110. The mounting slot 112 not only limits the installation position of the locking structure 312 within the operating handle 110 along the central axis of the locking tube 250, but also ensures smoother movement of the locking structure 312 along the central axis of the locking hole 111. This ensures that the edge of the disassembly hole 1321 can accurately engage with the locking groove 251 under the action of the locking elastic element 320 each time, thus ensuring more reliable locking of the locking assembly 300 into the operating assembly 100 and the pliers assembly 200.

[0034] Please refer to the following: Figure 5 Furthermore, in some embodiments, the locking assembly 300 further includes a limiting structure 330. The limiting structure 330 is detachably mounted to the outer wall of the operating handle 110 and has a sliding hole 331 communicating with the locking hole 111. The locking rod 311 is slidably inserted through the sliding hole 331. The end of the locking rod 311 away from the locking structure 312 extends out of the opening of the sliding hole 331 opposite to the locking structure 312.

[0035] Thus, the limiting structure 330 limits the locking structure 312, preventing the locking member 310 from coming out of the locking hole 111 under the action of the locking elastic member 320, thereby improving the structural stability of the locking assembly 300.

[0036] Furthermore, in some embodiments, the locking assembly 300 further includes a pressing structure 340. The pressing structure 340 includes a pressing top plate 341 and a guide side plate 342 arranged circumferentially along and connected to the pressing top plate 341. The end of the locking rod 311 away from the locking structure 312 is connected to the pressing top plate 341. The outer wall of the operating handle 110 is provided with a guide structure 113 having a mounting cavity 114. A locking hole 111 is provided at the bottom of the mounting cavity 114. The guide side plate 342 is slidably sleeved on the guide structure 113. A limiting structure 330 is engaged in the mounting cavity 114 to achieve detachable installation of the limiting structure 330 on the outer wall of the operating handle 110.

[0037] The pressing structure 340 is configured as a pressing top plate 341 and a guide side plate 342, which not only makes it convenient for the operator to press the locking member 310 by hand, but also allows the guide side plate 342 to slide on the guide structure 113 to guide the movement trajectory of the locking member 310 in the central axis direction of the locking hole 111 (i.e., the depth direction of the locking hole 111), further ensuring the stability of the movement of the locking member 310 in the central axis direction of the locking hole 111, making the locking assembly 300 more stable and reliable in locking the operating assembly 100 and the clamping head assembly 200.

[0038] Furthermore, in some embodiments, the locking elastic element 320 is a compression spring. The locking elastic element 320 is sleeved on the locking rod 311 and clamped between the pressing structure 340 and the limiting structure 330. Specifically, the limiting structure 330 has an annular groove 332 formed on the surface facing the pressing top plate 341 along the circumference of the locking rod 311. One end of the locking elastic element 320 is inserted into the annular groove 332, and the other end abuts against the pressing top plate 341. In this way, setting the locking elastic element 320 as a compression spring can ensure the coaxiality of the locking elastic element 320 and the locking rod 311, avoid the locking elastic element 320 from becoming eccentric, and further improve the stability of the locking element 310 moving in the central axis direction of the locking hole 111.

[0039] Please refer to it again. Figure 2 and Figure 3 In some embodiments, the operating handle 110 includes a main handle structure 115 and a movable handle structure 116. The end of the movable handle structure 116 near the outer tube 210 is rotatably connected to the end of the main handle structure 115 near the outer tube 210.

[0040] The engaging part is a ball-head structure 221 formed at the end of the pliers core 220 away from the pliers head body 230. The mating part is a locking groove 117 formed at the end of the movable handle structure 116 near the outer tube 210. A clearance notch 118 is provided on the side wall of the locking groove 117 facing the pliers head body 230. When the ball-head structure 221 is movably engaged in the locking groove 117, the pliers core 220 passes through the clearance notch 118. The locking groove 115 can be a circular hole, a rectangular hole, etc.

[0041] The end of the active handle structure 116 away from the outer tube 210 can be operably rotated in a direction away from the main handle structure 115 to engage or disengage the ball head structure 221 into the locking groove 117.

[0042] The ball head structure 221 is movably engaged in the locking groove 117 to rotatably connect the pliers core 220 and the operating handle 110. In actual use, the operator controls the pliers core 220 to move back and forth in the outer tube 210 to control the pliers head body 230 to perform cutting and gripping operations.

[0043] When it is necessary to install the pliers 220 onto the operating handle 110 or to remove the pliers 220 from the operating handle 110, the operator drives the end of the movable handle structure 116 away from the outer tube 210 to rotate in a direction away from the main handle structure 115, so as to rotate the opening of the locking groove 117 downwards, until the ball head structure 221 is disengaged from or engaged in the locking groove 117 under the pulling or pushing force applied by the operator to the outer tube 210, thereby realizing the engagement or disengagement of the fastening part and the mating part, making the disassembly and assembly between the operating component 100 and the pliers head assembly 200 more convenient.

[0044] Please see Figure 1 and Figure 6 In some embodiments, the electronic control mechanism 130 includes a first motor 131 and a second motor 132. The mechanical control mechanism 240 includes a first slider 241, a second slider 242, a third slider 243, a fourth slider 244, a first transmission mechanism 245, and a second transmission mechanism 246. The first slider 241, the second slider 242, the third slider 243, and the fourth slider 244 are slidably mounted on the locking tube 250 in sequence. The first motor 131 is connected to the first slider 241 and the second slider 242 via the first transmission mechanism 245, and is used to simultaneously drive the first slider 241 and the second slider 242 to slide towards or away from each other. The second motor 132 is connected to the third slider 243 and the fourth slider 244 via the second transmission mechanism 246, and is used to simultaneously drive the third slider 243 and the fourth slider 244 to slide towards or away from each other.

[0045] The outer tube 210 has a first serpentine tube segment 211 and a second serpentine tube segment 212. The outer tube 210 has a first side 213 and a second side 124 opposite to each other. The clamp head assembly 200 includes a first traction wire 261, a second traction wire 262, a third traction wire 263, and a fourth traction wire 264. One end of the first traction wire 261 and the second traction wire 262 are respectively inserted into the first serpentine tube segment 211 near the second side 124 and near the first side 213, and the other end is respectively connected to the first slider 241 and the second slider 242. One end of the third traction wire 263 and the fourth traction wire 264 are respectively inserted into the second serpentine tube segment 212 near the second side 124 and near the first side 213, and the other end is respectively connected to the third slider 243 and the fourth slider 244.

[0046] In practical applications, the first motor 131 rotates in the forward direction to simultaneously drive the first slider 241 and the second slider 242 to slide in opposite directions on the locking tube 250 via the first transmission mechanism 245, so as to simultaneously pull back the first traction wire 261 and push the second traction wire 262 outward, thereby switching the first snake-bone tube segment 211 from a straight tube state to a bent state that is bent away from the first side 213; when the first motor 131 rotates in the reverse direction, it simultaneously drives the first slider 241 and the second slider 242 to slide in opposite directions on the locking tube 250 via the first transmission mechanism 245, so as to simultaneously push the first traction wire 261 outward and pull back the second traction wire 262, thereby switching the first snake-bone tube segment 211 from a bent state that is bent away from the first side 213 to a straight tube state;

[0047] The second motor 132 rotates in the forward direction to simultaneously drive the third slider 243 and the fourth slider 244 to slide in opposite directions on the locking tube 250 via the second transmission mechanism 246, so as to simultaneously pull back the third traction wire 263 and push the fourth traction wire 264 outward, thereby switching the second snake-bone tube segment 212 from a straight tube state to a bent state that is bent away from the second side 124; when the second motor 132 rotates in the reverse direction, it simultaneously drives the third slider 243 and the fourth slider 244 to slide in opposite directions on the locking tube 250 via the second transmission mechanism 246, so as to simultaneously push the third traction wire 263 outward and pull back the fourth traction wire 264, thereby switching the second snake-bone tube segment 212 from a bent state that is bent away from the second side 124 to a straight tube state.

[0048] Thus, the outer tube 210 can be bent in one direction or in two directions by the first motor 131 and the second motor 132, so as to adjust the operating direction and operating position of the pliers head body 230 in the body cavity.

[0049] Further, in some embodiments, the first transmission mechanism 245 includes a first driving gear 2451, a first threaded sleeve 2452 having a forward internal thread and a reverse internal thread, a first transmission nut 2453 fixed to the first slider 241, a second transmission nut 2454 fixed to the second slider 242, and a first mating elastic member 2455. The first transmission nut 2453 and the second transmission nut 2454 are respectively screwed to the forward internal thread and the reverse internal thread of the first threaded sleeve 2452. The outer wall of the first threaded sleeve 2452 is provided with a first driven gear 24521 that can mesh with the first driving gear 2451 along the circumferential direction.

[0050] The second transmission mechanism 246 includes a second driving gear 2461, a second threaded sleeve 2462 having a forward internal thread and a reverse internal thread, a third transmission nut 2463 fixed to a third slider 243, a fourth transmission nut 2464 fixed to a fourth slider 244, and a second paired elastic member 2465. The third transmission screw and the fourth transmission nut 2464 are respectively screwed to the forward internal thread and the reverse internal thread of the second threaded sleeve 2462. The outer wall of the second threaded sleeve 2462 is provided with a second driven gear 24621 that can mesh with the second driving gear 2461 along the circumferential direction.

[0051] The output shafts of the first motor 131 and the second motor 132 are both oriented towards the jaw body 230 and are respectively connected to the first drive gear 2451 and the second drive gear 2461. The first drive gear 2451 and the second drive gear 2461 are slidable along the axial directions of the output shafts of the first motor 131 and the second motor 132, respectively. A first pair of elastic elements 2455 provides an elastic force that drives the first drive gear 2451 to slide in the direction towards the jaw body 230. A second pair of elastic elements 2465 provides an elastic force that drives the second drive gear 2461 to slide in the direction towards the jaw body 230. The first pair of elastic elements 2455 and the second pair of elastic elements 2465 can be springs, metal springs, rubber bands, rubber pads, etc.

[0052] Thus, during the installation of the pliers assembly 200 onto the operating assembly 100, even if misalignment occurs between the teeth of the first driving gear 2451 and the first driven gear 24521, or between the teeth of the second driving gear 2461 and the second driven gear 24621, the first driven gear 24521 can push the first driving gear 2451 to retract in a direction away from the pliers body 230, and the second driven gear 24621 can push the second driven gear 24621 to retract in a direction away from the pliers body 230, until the engaging part and the mating part engage to install the pliers core 220 onto the operating handle 110, and the locking part engages into the locking groove 251 to realize the pliers assembly. When the clamp assembly 200 and the operating component 100 are locked together, and then the first motor 131 drives the first drive gear 2451 to rotate, the teeth of the first drive gear 2451 spring back to mesh with the teeth of the first driven gear 24521 under the action of the first pair of elastic members 2455, so as to realize the automatic reset between the two; when the second motor 132 drives the second drive gear 2461 to rotate, the teeth of the second drive gear 2461 spring back to mesh with the teeth of the second driven gear 24621 under the action of the second pair of elastic members 2465, so as to realize the automatic reset between the two, making the assembly between the clamp head assembly 200 and the operating component 100 more convenient and reliable.

[0053] Furthermore, in some embodiments, the teeth of the first driving gear 2451 and the second driving gear 2461 facing the pliers body 230 are respectively formed with a first chamfer 24511 and a second chamfer 24611 along their respective circumferential directions. The teeth of the first driven gear 24521 and the second driven gear 24621 facing away from the pliers body 230 are respectively formed with a third chamfer 24522 and a fourth chamfer 24622 along their respective circumferential directions.

[0054] When the pliers assembly 200 is assembled to the operating assembly 100, if the first driving gear 2451 and the first driven gear 24521 are misaligned and / or the second driving gear 2461 and the second driven gear 24621 are misaligned, the first chamfer 24511 abuts against the third chamfer 24522, and the second chamfer 24611 abuts against the fourth chamfer 24622. Then, when the first motor 131 and / or the second motor 132 rotate, the teeth of the first driving gear 2451 can more easily slide into the teeth of the first driven gear 24521, and the second driving gear 2461 can more easily slide into the teeth of the second driven gear 24621, making it easier to achieve automatic reset. This further makes the assembly of the pliers assembly 200 to the operating assembly 100 more convenient and reliable.

[0055] Furthermore, in some embodiments, a first limiting member 2456 is detachably mounted on the output shaft of the first motor 131. The first limiting member 2456 abuts against the end of the first driving gear 2451 facing the pliers body 230. A second limiting member 2466 is detachably mounted on the output shaft of the second motor 132. The second limiting member 2466 abuts against the end of the second driving gear 2461 facing the pliers body 230. The first limiting member 2456 and the second limiting member 2466 can be a retaining ring, a pin, etc.

[0056] Thus, the first limiting member 2456 limits the extreme position of the first driving gear 2451 sliding in the direction toward the clamp head body 230, and the second limiting member 2466 limits the extreme position of the second driving gear 2461 sliding in the direction toward the clamp head body 230. This prevents the first driving gear 2451 and the second driving gear 2461 from sliding out of the output shaft of the first motor 131 and the output shaft of the second motor 132 respectively under the action of the first pair of elastic members 2455 and the second pair of elastic members 2465, thereby improving the structural reliability of the detachable multi-dimensional surgical robotic arm 10.

[0057] In addition, the first limiting member 2456 and the second limiting member 2466 are designed to be detachable to facilitate the assembly and disassembly of the first driving gear 2451 and the second driving gear 2461.

[0058] In some embodiments, the detachable multi-dimensional surgical robotic arm 10 further includes an electrical control housing 140 and a mechanical control housing 270. The electrical control housing 140 is mounted on a mounting bracket 120. A mounting step 141 is formed at the end of the electrical control housing 140 opposite to the operating handle 110. One end of the mechanical control housing 270 passes through and is fixed to the outer tube 210. The other end of the mechanical control housing 270 can be fitted onto the mounting step 141 to form a cavity with the electrical control housing 140 that can accommodate the electrical control mechanism 130 and the mechanical control mechanism 240.

[0059] As the operator pulls the outer tube 210 to remove the clamp assembly 200 from the operating assembly 100, the mechanical control housing 270 also moves away from the electrical control housing 140 along with the outer tube 210. When the operator pushes the clamp assembly 200 into the operating assembly 100, the mechanical control housing 270 fits onto the mounting step 141, thus assembling the mechanical control housing 270 and the electrical control housing 140 and forming a protective housing structure for the electrical control mechanism 130 and the mechanical control mechanism 240, thereby reducing the probability of external water, dust, impurities, etc., entering the electrical control mechanism 130 and the mechanical control mechanism 240.

[0060] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A detachable multi-dimensional surgical robotic arm, characterized in that, Includes operating components, clamping head assembly, mechanical control mechanism, and locking components; The operating components include an operating handle, a mounting bracket mounted on the operating handle, and an electronic control mechanism mounted on the mounting bracket; the operating handle has a fastening part; the operating handle has a locking hole; The pliers assembly includes an outer tube, a pliers core and a pliers body, a mechanical control mechanism, and a locking tube. One end of the outer tube is connected to the mechanical control mechanism, and the other end is connected to the pliers body. One end of the locking tube is connected to the end of the mechanical control mechanism away from the pliers body, and the outer wall of the other end has a locking groove formed circumferentially. The pliers core passes through the outer tube and the locking tube, with one end connected to the pliers body and the other end having a mating part that can engage with the fastening part. The mechanical control mechanism is drivenly connected to the electrical control mechanism and is configured to be able to drive the outer tube to bend at least partially under the driving action of the electrical control mechanism. The locking assembly includes a locking member and a locking elastic member; the locking member is slidably disposed in the locking hole, with one end located on the outer wall of the operating handle and the other end located inside the operating handle and having a locking portion; the locking elastic member is used to provide an elastic force that drives the locking member to move from the inside to the outside along the central axis of the locking hole, so as to hook the locking portion into the locking groove; the locking member is operably movable from the outside to the inside along the central axis of the locking hole until the locking portion disengages from the locking groove; The electronic control mechanism includes a first motor and a second motor; The mechanical control mechanism includes a first slider, a second slider, a third slider, a fourth slider, a first transmission mechanism, and a second transmission mechanism; the first slider, the second slider, the third slider, and the fourth slider are slidably mounted on the locking tube in sequence. The first transmission mechanism includes a first driving gear, a first threaded sleeve having a positive internal thread and a negative internal thread, a first transmission nut fixed on the first slider, a second transmission nut fixed on the second slider, and a first pair of elastic members; the first transmission nut and the second transmission nut are respectively screwed to the positive internal thread and the negative internal thread of the first threaded sleeve; the outer wall of the first threaded sleeve is provided with a first driven gear that can mesh with the first driving gear along the circumferential direction. The second transmission mechanism includes a second driving gear, a second threaded sleeve having a positive internal thread and a negative internal thread, a third transmission nut fixed on the third slider, a fourth transmission nut fixed on the fourth slider, and a second pair of elastic members; the third transmission nut and the fourth transmission nut are respectively screwed to the positive internal thread and the negative internal thread of the second threaded sleeve; the outer wall of the second threaded sleeve is provided with a second driven gear that can mesh with the second driving gear along the circumferential direction; The output shafts of the first motor and the second motor are respectively connected to the first driving gear and the second driving gear; the first pair of elastic members are used to provide an elastic force that drives the first driving gear to slide in the direction toward the pliers body, so that the first driving gear and the first driven gear can automatically mesh and reset; the second pair of elastic members are used to provide an elastic force that drives the second driving gear to slide in the direction toward the pliers body, so that the second driving gear and the second driven gear can automatically mesh and reset. The teeth of the first driving gear and the second driving gear have a first chamfer and a second chamfer respectively formed along their respective circumference at the end facing the plier head body; the teeth of the first driven gear and the second driven gear have a third chamfer and a fourth chamfer respectively formed along their respective circumference at the end facing away from the plier head body.

2. The detachable multi-dimensional surgical robotic arm according to claim 1, characterized in that, The locking element includes a locking rod and a locking structure disposed at one end of the locking rod; the locking rod is slidably inserted through the locking hole, and the end away from the locking structure extends to the outside of the operating handle; the locking structure is located inside the operating handle and forms a disassembly hole; the locking tube is inserted through the disassembly hole; the locking elastic element is used to provide an elastic force to drive the locking rod to slide from the inside to the outside, so as to engage the edge portion of the disassembly hole with the locking groove.

3. The detachable multi-dimensional surgical robotic arm according to claim 2, characterized in that, The locking structure is a plate-shaped structure; the locking hole is a rectangular hole opened on the outer wall of the operating handle, and the rectangular hole is configured to allow the locking structure to pass through; the inner wall of the operating handle is provided with a mounting slot; the locking structure is slidably installed in the mounting slot along the depth direction of the locking hole.

4. The detachable multi-dimensional surgical robotic arm according to claim 2, characterized in that, The locking assembly further includes a limiting structure; the limiting structure is detachably mounted on the outer wall of the operating handle and has a sliding hole communicating with the locking hole; the locking rod is slidably inserted through the sliding hole; one end of the locking rod away from the locking structure extends out of the sliding hole at the end opposite to the locking structure.

5. The detachable multi-dimensional surgical robotic arm according to claim 4, characterized in that, The locking assembly further includes a pressing structure; the pressing structure includes a pressing top plate and a guide side plate arranged circumferentially along the pressing top plate and connected to the pressing top plate; one end of the locking rod away from the locking structure is connected to the pressing top plate; the outer wall of the operating handle is provided with a guide structure having a mounting cavity; the bottom of the mounting cavity is provided with the locking hole; the guide side plate is slidably sleeved on the guide structure; the limiting structure is engaged in the mounting cavity.

6. The detachable multi-dimensional surgical robotic arm according to claim 5, characterized in that, The locking elastic element is a compression spring; the locking elastic element is sleeved on the locking rod and clamped between the pressing structure and the limiting structure.

7. The detachable multi-dimensional surgical robotic arm according to claim 5, characterized in that, The limiting structure has an annular groove formed on the surface of the pressing top plate along the circumference of the locking rod; one end of the locking elastic element is inserted into the annular groove, and the other end abuts against the pressing top plate.

8. The detachable multi-dimensional surgical robotic arm according to claim 1, characterized in that, The operating handle includes a main handle structure and a movable handle structure; the end of the movable handle structure near the outer tube is rotatably connected to the end of the main handle structure near the outer tube. The fastening part is a ball-head structure formed on the end of the pliers core away from the pliers head body; the mating part is a snap-fit ​​groove opened on the end of the movable handle structure near the outer tube; the side wall of the snap-fit ​​groove is provided with a clearance notch on the side facing the pliers head body; when the ball-head structure is movably snapped into the snap-fit ​​groove, the pliers core passes through the clearance notch. The end of the movable handle structure away from the outer tube is operable to rotate in a direction opposite to the main handle structure to engage or disengage the ball head structure into the locking groove; and / or It also includes the electrical control housing and the mechanical control housing; The electrical control housing is mounted on the mounting bracket; The end of the electrical control housing opposite to the operating handle has an installation step; one end of the mechanical control housing passes through and is fixed to the outer tube; the other end of the mechanical control housing can be fitted onto the installation step to form a cavity with the electrical control housing that can accommodate the electrical control mechanism and the mechanical control mechanism.

9. The detachable multi-dimensional surgical robotic arm according to claim 1, characterized in that, The outer tube has a first serpentine tube segment and a second serpentine tube segment; the outer tube has a first side and a second side opposite to each other; the clamp head assembly includes a first traction wire, a second traction wire, a third traction wire and a fourth traction wire; one end of the first traction wire and the second traction wire are respectively inserted into the first serpentine tube segment near the second side and near the first side, and the other end is respectively connected to the first slider and the second slider; one end of the third traction wire and the fourth traction wire are respectively inserted into the second serpentine tube segment near the second side and near the first side, and the other end is respectively connected to the third slider and the fourth slider.

10. The detachable multi-dimensional surgical robotic arm according to claim 9, characterized in that, A first limiting member is detachably mounted on the output shaft of the first motor; the first limiting member and the end of the first driving gear facing the pliers body can abut against each other; a second limiting member is detachably mounted on the output shaft of the second motor; the second limiting member and the end of the second driving gear facing the pliers body can abut against each other.

Images